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93
K.Vinoth Kumar
Dr. K.K.Ray
Summary
The main objectives of this paper is aimed to control the position
of a field oriented Induction Servo motor drive for a given
reference input signal in a very efficient way and to compare the
two control schemes using Matlab/Simulink. To design a total
sliding-mode control system which is insensitive to uncertainties,
including parameter variations and external disturbances in the
whole control process. To design an adaptive sliding-mode
control system which adjusts the bound of uncertainities in real
time and also reduces the chattering phenomena in the control
effort using a simple adaptive algorithm? The simulation result
of the control schemes for a given Induction Motor is discussed
below.
Key words:
Field oriented induction servo motor, sliding mode control
system, adaptive sliding mode control system.
1. Introduction
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IJCSNS International Journal of Computer Science and Network Security, VOL.9 No.10, October 2009
Fig 2. Block diagram of Sliding mode control for Second order system.
IJCSNS International Journal of Computer Science and Network Security, VOL.9 No.10, October 2009
nonlinear robust control approaches since it provides
system dynamics with an invariance property to
uncertainties once the system dynamics are controlled in
the sliding mode. The first step of SMC design is to select
a sliding surface that models the desired closed-loop
performance in state variable space. Then the control
should be designed such that system state trajectories are
forced toward the sliding surface and stay on it. The
system state trajectory in the period of time before
reaching the sliding surface is called the reaching phase.
Once the system trajectory reaches the sliding surface, it
stays on it and slides along it to the origin. The system
trajectory sliding along the sliding surface to the origin is
the sliding mode. The insensitivity of the control system to
the uncertainties exists in the sliding mode, but not during
the reaching phase. Thus the system dynamics in the
reaching phase is still influenced by uncertainties. The
idea of sliding mode is shown in figure 4 and 5.
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4. Simulation Results
The parameters of the proposed control system are given
as Kv = 40, Kp = 400 , = 5, = 0.1 All the parameters in
the proposed control system are chosen to achieve the best
transient control performance in the simulation and also
considering the requirement of stability. It should be noted
that the fixed bound of lumped uncertainty can be
determined roughly owing to the limitation of control
effort, and to the possible perturbed range of parameter
variation and external load disturbance.
Three simulation cases including parameter variations and
including external load disturbance in the shaft due to
periodic sinusoidal command are addressed as follows:
Case 1: J = J*, B = B*, Tl = 0 Nm
Case 2 : J = J*, B = B*, Tl = 3 Nm
Case 3 : J = 3 x J*, B = 3 x B*, Tl = 0 Nm
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4.1.5 Simulation
Controller
of
Adaptive
Sliding
Mode
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Fig. 19. Simulation Results showing Input, Output and Control Effort
Amplitude
Fig. 21. Simulation Results showing Input, Output and Control Effort
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5.5 Results
A total Sliding mode control system which is insensitive
to uncertainties including parameter variations and
external disturbances in the whole control process was
designed. An adaptive sliding mode control system which
adjusts the bound of uncertainties in real time in the
control effort using a simple adaptive algorithm was
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5. Conclusion
The position of a field oriented induction servomotor drive
for a given reference input signal was controlled using the
total Sliding-Mode Control Schemes and Adaptive Sliding
Mode Control Scheme and by comparing the two, it is
concluded that the adaptive sliding mode control scheme is
more robust and efficient.
References
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